JP3772063B2 - Position detection apparatus and position detection system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position detection device for an insertion tool, and more particularly to an insertion tool as a position measurement device that detects the position and orientation of an insertion tool such as a treatment tool inserted into a living body and is used for navigation and the like in surgery. The present invention relates to a position detection device.
[0002]
[Prior art]
Conventionally, for therapeutic actions such as surgery in medicine, tomographic images obtained from X-ray, CT, MRI and other image diagnostic devices before surgery are reconstructed into three-dimensional images, and three-dimensional treatment instruments are operated during surgery. The position and orientation are detected and displayed on a pre-operative three-dimensional reconstruction image.
[0003]
At this time, although it is necessary to measure the three-dimensional position and orientation of the treatment instrument, an optical three-dimensional measuring apparatus as disclosed in JP-A-5-305073 is relatively widely used.
[0004]
When three-dimensional position and orientation measurement is performed using such an optical three-dimensional measurement device, it is necessary to attach a signal member corresponding to the measurement device to a treatment instrument to be measured.
[0005]
In order to measure a three-dimensional posture, three or more signal members that are not linear and whose positional relationship is constrained are required.
[0006]
For this reason, when performing three-dimensional position and orientation measurement using an optical three-dimensional measuring device, a signal plate to which a signal member is attached is mounted on the rear side of the insertion axis of the treatment instrument, and there is no contact with them. A plurality of receiving members such as a TV camera that can recognize these signal members are provided.
[0007]
In order to calculate the position and orientation of the treatment device, calibration data indicating how the signal plate is fixed to the treatment device is required, and calibration is performed for each treatment device to which the signal plate is attached. Are associated with each other one-to-one.
[0013]
[Problems to be solved by the invention]
In the position measuring device, there are cases where it is difficult to measure the signal member due to the positional relationship between the receiving member and the signal plate during treatment.
[0014]
In this case, it is possible to measure again by changing the mounting position of the signal plate to a position and orientation that can be measured by the receiving member. At this time, the calibration data used for calculating the three-dimensional position and orientation is also changed. Unless a change is made to one corresponding to the position and orientation, the three-dimensional position and orientation of the treatment instrument to be measured cannot be calculated.
[0017]
The present invention pays attention to this point, and it is possible to easily change the mounting position of the signal board at the time of using the treatment instrument and to change the calibration data to the one corresponding to the changed mounting position, thereby continuing the three-dimensional position and orientation measurement. The challenge is to be able to do so.
[0019]
The present invention has been made in view of the above problems, and can change the mounting position of the signal plate easily when using the treatment instrument, and the calibration data is also changed to the one corresponding to the changed mounting position, so that the three-dimensional position and orientation are changed. It aims at providing the position detection apparatus of the insertion tool as a position measurement apparatus which can continue measurement.
[0020]
[Means for Solving the Problems]
The position detection device according to an embodiment of the present invention includes a marker serving as a reference for position detection, the marker is attached, and is attached to an insertion tool inserted into a living body via a connecting member, and is attached to the insertion tool. A marker mounting member that is variable, a marker detection unit that detects the position of the marker in a non-contact manner, and a position information setting unit that is provided between the marker mounting member and the insertion tool and sets information on the mounting position And data for associating the marker with the insertion tool based on the information on the attachment position input from the position information setting means, and based on the data and the position of the marker detected by the marker detection unit And a position / orientation calculating means for calculating a position / orientation of the insertion tool.
[0021]
(Corresponding Embodiment of the Invention)
Embodiments relating to the present invention correspond to first and second embodiments described later.
[0022]
In these embodiments, the insertion tool in the solution means corresponds to the rigid endoscope 1, but is not limited to the rigid endoscope 1, and is an instrument such as an electric knife, a suction tube, tweezers, and forceps. Also good.
[0023]
The marker as the signal member in the solution means corresponds to the LED 3 in these embodiments. However, the marker is not limited to the LED 3 alone, but is an active marker such as an infrared LED or a reflection sphere. A passive marker may be used.
[0024]
Further, the marker detection unit as a receiving member in the above solution means corresponds to the camera 6 in these embodiments, but is not limited to the camera 6 and can measure the three-dimensional position and orientation of the marker. If so, the number does not matter.
[0025]
Further, the position / orientation calculation means in the solving means corresponds to the sensor control unit 7 and the sensor information storage unit 8 in these embodiments.
[0026]
In these embodiments, the marker mounting member as the signal mounting member in the above solution means the marker mounting plate 4 and the marker mounting tool 5 (consisting of mounting members 5a and 5b).
[0027]
Further, the connecting member in the solving means may be a member integrated with a marker attaching member as a signal attaching member in the solving means.
[0051]
The position information setting means in the solving means corresponds to the switches 10 and 11 in the first embodiment.
[0052]
The encoder 15 corresponds to the second embodiment, but may be replaced with a sensor for measuring an angle such as a potentiometer, a sensor for measuring a distance, and a combination of these. .
[0057]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0058]
(First embodiment)
FIG. 1 is a diagram showing an overall schematic configuration of a position detection apparatus for an insertion tool according to a first embodiment of the present invention.
[0059]
The first embodiment of the present invention is configured as follows.
[0060]
That is, as shown in FIG. 1, the CCD camera head unit 2 is attached to the rigid endoscope 1 in a state of being bent with respect to the rigid endoscope insertion axis.
[0061]
In addition, three LEDs 3 are attached to the marker attachment plate 4 so as to form the apex of an equilateral triangle.
[0062]
The LED 3 is connected to the sensor control unit 7 by a cable.
[0063]
The marker mounting plate 4 is mounted on the CCD camera head unit 2 by a marker mounting tool 5 as will be described later.
[0064]
The camera 6 is installed so as to capture the movement range of the marker mounting plate 4 in the usage range of the rigid endoscope 1 in the visual field, and is connected to the sensor control unit 7.
[0065]
2A to 2D are diagrams showing a schematic configuration of the marker fixture 5 of FIG.
[0066]
That is, as shown in FIGS. 2A to 2D, the marker attachment 5 is composed of an attachment member 5 b that is fixed to the CCD camera head portion 2 and an attachment member 5 a that is fixed to the marker attachment plate 4. ing.
[0067]
Here, the attachment member 5b is provided with a plurality of depressions 9 that differ in each attachment direction.
[0068]
On the other hand, the switches 10 and 11 are attached to the attachment member 5a.
[0069]
Thus, when the attachment member 5a is attached to the attachment member 5b, only the switch corresponding to the portion without the recess 9 is turned on, and the switch corresponding to the portion with the recess 9 remains in the OFF state.
[0070]
These switches 10 and 11 are connected to the sensor control unit 7 of FIG.
[0071]
FIGS. 3A and 3B are diagrams showing the on and off states of the switches 10 and 11 of FIG.
[0072]
In FIG. 1, a sensor information storage unit 8 in which calibration data is stored is connected to a sensor control unit 7.
[0073]
The sensor control unit 7 is connected to a navigation device (not shown).
[0074]
Next, the operation of the embodiment of the present invention will be described.
[0075]
Information from the switches 10 and 11 is transferred to the sensor control unit 7.
[0076]
The sensor control unit 7 interprets information from the switches 10 and 11 as bit information expressing the position, and acquires calibration data corresponding to the current attachment state from the sensor information storage unit 8.
[0077]
FIG. 4 is a diagram illustrating the acquisition relationship of calibration data by the sensor control unit 7.
[0078]
This calibration data is a coordinate transformation matrix related between the coordinate system constituted by the marker mounting plate 4 and the coordinate system constituted by the rigid endoscope 1.
[0079]
FIG. 5 is a diagram showing a coordinate system composed of the marker mounting plate 4 and a coordinate system composed of the rigid endoscope 1.
[0080]
FIG. 6 is a diagram illustrating a coordinate transformation matrix related between a coordinate system constituted by the marker mounting plate 4 and a coordinate system constituted by the rigid endoscope 1.
[0081]
First, the sensor control unit 7 causes the LEDs 3 to emit light one by one in order.
[0082]
The camera 6 acquires an image of the marker mounting plate 4 and transmits the image to the sensor control unit 7.
[0083]
The sensor control unit 7 calculates the three-dimensional position and orientation of the marker mounting plate 4 from the ID information of the LED 3 derived based on the image from the camera 6 and the timing of LED light emission controlled by itself.
[0084]
Next, the sensor control unit 7 uses the calibration data acquired from the sensor information storage unit 8 to convert the three-dimensional position / posture of the marker mounting plate 4 to the three-dimensional position / posture of the rigid endoscope 1 and outputs this. To do.
[0085]
As a result, navigation is performed using the three-dimensional position and orientation of the rigid endoscope 1 output from the sensor control unit 7.
[0086]
While performing this navigation, the surgeon performs an operation on the affected area 14 using the rigid endoscope 1 and the treatment tool 12.
[0087]
FIG. 7 is a diagram showing a state in which the surgeon performs an operation on the affected part 14 using the rigid endoscope 1 and the treatment tool 12 while performing navigation.
[0088]
That is, as shown in FIG. 7, the rigid endoscope 1 and the treatment instrument 12 are inserted toward the affected part 14 through the same hole 13 or a very close hole, so that the rigid endoscope 1 interferes with the operation range of the treatment instrument 12. It is very important to arrange so that it does not.
[0089]
In this embodiment, the marker mounting plate 4 necessary for navigation is attached to the CCD camera head unit 2 that is bent with respect to the rigid endoscope 1, so that the treatment instrument 12 can be operated. The marker mounting plate 4 is considered so as not to interfere.
[0090]
Further, when the camera 6 is in a positional relationship where the marker mounting plate 4 cannot be photographed, the mounting position of the marker mounting plate 4 can be changed.
[0091]
FIG. 8 is a diagram showing a state in which the mounting position of the marker mounting plate 4 is changed when the positional relationship in which the marker mounting plate 4 cannot be photographed by the camera 6 is reached.
[0092]
FIGS. 9A and 9B are views showing a positional relationship in which the marker mounting plate 4 can be photographed from a positional relationship in which the marker mounting plate 4 cannot be photographed by changing the mounting position of the marker mounting plate 4. .
[0093]
Then, by changing the mounting position of the marker mounting plate 4, information obtained from the switches 10 and 11 provided on the marker mounting tool 5 is changed, and the sensor control unit 7 receives corresponding calibration data from the sensor information storage unit 8. It will be reacquired.
[0094]
As a result, the sensor control unit 7 can output the correct three-dimensional position and orientation of the rigid endoscope 1 even if the attachment position of the marker attachment plate 4 is changed.
[0095]
In addition, even if the marker attachment position is changed, the operation of the treatment instrument 12 is not interfered.
[0096]
It should be noted that the configuration of the first embodiment of the present invention can naturally be variously modified and changed.
[0097]
For example, the LEDs 3 attached to the marker attaching plate 4 may have different wavelengths, and may emit light at the same time, and the camera 6 may identify individual LEDs using a filter or the like corresponding to each wavelength.
[0098]
In addition, the marker may be a passive (not emitting) marker that can be identified.
[0099]
Further, a method of extracting a characteristic part from the marker shape itself by an image processing method may be used.
[0100]
Further, for example, the switches 10 and 11 provided on the marker fixture 5 are not limited to this, and a potentiometer or an encoder that is a sensor for measuring an angle can be used.
[0101]
In this case, not only the method of selecting the corresponding calibration data but also the calibration data can be calculated using the output of the potentiometer or encoder as a parameter.
[0102]
Further, for example, a distance measurement sensor may be attached to the marker attachment 5 and the distance between the attachment member 5a and the attachment member 5b of the marker attachment 5 may be variable.
[0103]
In this case, the distance measurement sensor is also connected to the sensor control unit 7 and used for selecting / generating calibration data.
[0104]
Further, this distance may be changed stepwise, and the distance information may be sensed with a switch or the like.
[0105]
In addition, for example, there is provided means for measuring the CCD camera head unit 2 with respect to the movement and / or rotation of the CCD camera head unit 2 with respect to the rigid endoscope 1. The three-dimensional position and orientation of the rigid endoscope 1 can be calculated regardless of the movement and rotation of the camera head unit 2 and navigation can be continued.
[0106]
(Second Embodiment)
Next, a second embodiment of the present invention will be described.
[0107]
FIG. 10 is a diagram illustrating an overall schematic configuration of a position detection device for an insertion tool according to the second embodiment of the present invention.
[0108]
The second embodiment of the present invention is configured similarly except for the configuration of the first embodiment described above and the following points.
[0109]
That is, in the first embodiment, the switches 10 and 11 are attached to the marker attachment 5, but in the second embodiment, the encoder 15 is attached to the marker attachment 5A.
[0110]
(A), (b) of FIG. 11 is a figure which shows schematic structure of 5 A of marker attachments of FIG.
[0111]
That is, as shown in FIGS. 11A and 11B, the encoder 15 is attached to the marker attachment 5A.
[0112]
The encoder 15 is connected to the sensor control unit 7 in FIG.
[0113]
The calibration data recorded in the sensor information storage unit 8 is described in the form of a function (calibration function) with the output of the encoder 15 as a variable.
[0114]
(A)-(e) of FIG. 12 is a figure which shows the structure of the attachment part of the CCD camera head part 2 and the rigid endoscope 1 in 2nd Embodiment.
[0115]
The contact 17 in FIG. 12 is connected to the sensor control unit 7.
[0116]
Next, the operation of the second embodiment of the present invention will be described.
[0117]
First, the output from the encoder 15 attached to the marker attachment 5 </ b> A is passed to the sensor control unit 7.
[0118]
In addition, on / off information of the contact 17 provided in the attachment part of the CCD camera head unit 2 and the rigid endoscope 1 is passed to the sensor control unit 7.
[0119]
In the sensor control unit 7, the contact information is interpreted as bit information representing an individual number (ID) of the rigid endoscope, and a calibration function corresponding to the current rigid endoscope is acquired from the sensor information storage unit 8.
[0120]
FIG. 13 is a diagram illustrating an example in which the contact information is interpreted as bit information representing an individual number (ID) of the rigid endoscope.
[0121]
FIG. 14 is a diagram illustrating the acquisition relationship of the calibration function by the sensor control unit 7.
[0122]
Then, the sensor control unit 7 calculates calibration data to be used in actual calculation based on the calibration function and the output from the encoder 15.
[0123]
Here, as shown in FIG. 5 and FIG. 6, the calculated calibration data is a coordinate transformation matrix related between the coordinate system constituted by the marker mounting plate 4 and the coordinate system constituted by the rigid endoscope 1. It has become.
[0124]
Next, as in the first embodiment, the sensor control unit 7 outputs the three-dimensional position and orientation of the rigid endoscope 1.
[0125]
When the LED 3 of the marker mounting plate 4 is in a positional relationship that cannot be captured by the camera 6, the mounting position of the marker mounting plate 4 can be changed.
[0126]
By changing the mounting position of the marker mounting plate 4, information obtained from the encoder 15 provided in the marker mounting tool 5 </ b> A changes, and the sensor control unit 7 converts the corresponding calibration data into the output of the calibration function and the encoder 15. Calculate based on
[0127]
As a result, the sensor control unit 7 can output the correct three-dimensional position and orientation of the rigid endoscope 1.
[0128]
In addition, even if the position of the marker mounting plate 4 is changed, it does not interfere with the treatment instrument operation.
[0129]
Further, in the surgery using the rigid endoscope 1, a plurality of types of rigid endoscopes (direct view: the optical axis is parallel to the insertion axis, 30 degrees side view: the optical axis is 30 to the insertion axis, in order to switch the visual field direction. Degree of inclination, 70 degree side view: optical axis is inclined 70 degrees with respect to the insertion axis, etc.) during the operation.
[0130]
FIG. 15A shows a direct-view rigid endoscope, FIG. 15B shows a 30-degree side rigid endoscope, and FIG. 15C shows a 70-degree side rigid endoscope. Show.
[0131]
In this case, in the second embodiment, the marker mounting plate 4 is mounted not on the rigid endoscope 1 but on the CCD camera head unit 2, so that the marker mounting plate 4 is prepared for all the rigid endoscopes to be used. There is no need to do this, and one marker mounting plate 4 can be used.
[0132]
And since the information which replaced the rigid endoscope 1 is passed to the sensor control part 7 as contact information, the sensor control part 7 acquires a new corresponding calibration function from the sensor information storage part 8, and thereby the user. The three-dimensional position and orientation of the rigid endoscope 1 can be calculated without requiring a special operation.
[0133]
In addition, when there is no corresponding calibration function, the same type of rigid endoscope can be identified from the ID. Therefore, a calibration function corresponding to the same type of rigid endoscope can be used, and a sudden change in the situation. However, it is possible to respond as much as possible.
[0134]
Of course, each configuration of the second embodiment of the present invention can be variously modified and changed.
[0135]
For example, the encoder 15 attached to the marker attachment 5A is not limited thereto, and may be replaced with a potentiometer that outputs angle information in the same manner.
[0136]
Further, as shown in the first embodiment, the encoder 15 attached to the marker attachment 5A may use a switch.
[0137]
Further, for example, the rigid endoscope 1 to be replaced is not limited to the rigid endoscope, and may be a treatment instrument that performs suction, excision, and the like of the affected part.
[0138]
In this case, the CCD camera head unit 2 is limited to a function for attaching the marker attachment plate 4 to the treatment instrument.
[0139]
Further, the contact point 17 provided on the CCD camera head unit 2 and the mounting portion of the rigid mirror 1 is not limited to this structure, and any system may be used as long as the ID of the rigid mirror body can be recognized.
[0140]
For example, the contact point 17 provided on the CCD camera head unit 2 and the attachment part of the rigid endoscope 1 reflects an ID mark (bar code or the like) on a portion outside the visual field of the rigid mirror and reads it by an image processing technique. It can be replaced by a form.
[0141]
In addition, the present specification shown in the embodiment as described above includes inventions as shown in Supplementary Notes 1 and 2 below in addition to Claims 1 to 3 shown in the claims. Yes.
[0142]
(Supplementary Note 1) The position information setting means includes:
The position detection device for an insertion tool according to claim 3, wherein the switch is a switch provided on the marker attachment member.
[0143]
(Supplementary Note 2) The position information setting means includes:
The position detection device for an insertion tool according to claim 3, wherein the position detection device is an encoder provided on the marker attachment member.
[0148]
【The invention's effect】
According to the present invention, it is possible to easily change the mounting position of the signal plate when using the treatment instrument, and to continue the three-dimensional position and orientation measurement by changing the calibration data to the one corresponding to the changed mounting position. A position detection device for an insertion tool as a position measurement device can be provided.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an overall schematic configuration of a position detection device for an insertion tool according to a first embodiment of the present invention.
FIGS. 2A to 2D are diagrams showing a schematic configuration of the marker fixture 5 of FIG.
FIGS. 3A and 3B are diagrams showing the on and off states of the switches 10 and 11 of FIG.
FIG. 4 is a diagram illustrating a calibration data acquisition relationship by the sensor control unit 7;
FIG. 5 is a diagram showing a coordinate system composed of the marker mounting plate 4 and a coordinate system composed of the rigid endoscope 1;
FIG. 6 is a diagram showing a coordinate transformation matrix related between a coordinate system composed of the marker mounting plate 4 and a coordinate system composed of the rigid endoscope 1;
FIG. 7 is a diagram illustrating a state in which an operator performs an operation on an affected area using the rigid endoscope 1 and a treatment tool 12 in a state where navigation is performed.
FIG. 8 is a diagram showing a state in which the mounting position of the marker mounting plate 4 is changed when the positional relationship is such that the marker mounting plate 4 cannot be photographed by the camera 6;
9 (a) and 9 (b) show that, by changing the mounting position of the marker mounting plate 4, the positional relationship in which the marker mounting plate 4 can be shot from the positional relationship in which the marker mounting plate 4 cannot be shot. FIG.
FIG. 10 is a diagram showing an overall schematic configuration of a position detection device for an insertion tool according to a second embodiment of the present invention.
11 (a) and 11 (b) are diagrams showing a schematic configuration of the marker fixture 5A in FIG.
FIGS. 12A to 12E are diagrams showing a configuration of a mounting portion of the CCD camera head unit 2 and the rigid endoscope 1 in the second embodiment.
FIG. 13 is a diagram illustrating an example of interpreting contact information as bit information representing an individual number (ID) of a rigid endoscope.
FIG. 14 is a diagram illustrating a calibration function acquisition relationship by the sensor control unit 7;
15 (a) shows a direct-view rigid endoscope, FIG. 15 (b) shows a 30-degree side rigid endoscope, and FIG. 15 (c) shows a 70-degree side endoscope. A optic rigid endoscope is shown.
[Explanation of symbols]
1 ... rigid endoscope,
2 ... CCD camera head,
3 ... LED,
4 ... Marker mounting plate,
5 ... Marker mounting tool,
5a ... mounting member,
5b ... mounting member,
6 ... Camera,
7: Sensor control unit,
9 ... depression,
10, 11 ... switch,
5A ... Marker attachment,
12 ... treatment tool,
13 ... hole,
14 ... affected area,
15: Encoder,
17 ... Contact.

Claims (2)

A marker that serves as a reference for position detection;
A marker mounting member to which the marker is attached and attached to an insertion tool to be inserted into a living body via a connecting member, the mounting position of the insertion tool being variable;
A marker detection unit for detecting the position of the marker in a non-contact manner;
Position information setting means provided between the marker attachment member and the insertion tool, for setting information on the attachment position ;
Based on the information on the attachment position input from the position information setting means, data for associating the marker with the insertion tool is changed, and the data and data relating to the position of the marker detected by the marker detection unit. Position and orientation calculation means for calculating the position and orientation of the insertion tool based on
A position detection apparatus comprising:   A position detection system comprising: an insertion tool inserted into a living body; and the position detection device according to claim 1.

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